Double-robot collaborative curve welding planning method based on line structured light vision

Abstract

The invention relates to a double-robot collaborative curve welding planning method based on line structured light vision. The method comprises the following steps of firstly, calibrating a relative pose relationship matrix of each part of a double-robot collaborative welding system, extracting image characteristics of a curve welding seam point group through line structured light stripe image processing of a measured welding seam, and establishing a three-dimensional structure characteristic model of a welding seam curve and curved surfaces at two sides of the weld curve. According to the characteristic model, a transformation relation of a welding seam discrete control point differential rotation motion vector between a main robot base coordinate system and a tail end coordinate system is established to obtain a main robot joint angle minimum norm solution sequence, and a slave robot joint angle sequence for realizing welding seam tracking is obtained through a main and slave robot closed-loop motion chain. The method solves the problems of main robot ship-shaped welding process planning and slave robot welding gun posture control, can comprehensively describe the structural characteristics of the curve welding seam through line structured light vision detection under the condition of not depending on the specific size and shape of the curve welding seam, and achieves double-robot collaborative welding planning meeting the ship-shaped welding requirement.

Description

technical field [0001] The invention relates to the technical field of robotic welding automation, in particular to a collaborative planning method for dual-robot curve welding based on line structured light vision. Background technique [0002] In the field of welding engineering practice, there are many intersecting structures of pipe fittings of different shapes, forming complex space intersecting curve welds. The welding processing tasks of such space curves have been widely used in automobiles, ships, petroleum, steel structures, various pressure Among the manufacturing industries such as containers. Due to the diversity of the shape and structure of the space curve welding seam, the operability of a single robot is obviously insufficient, and the double robot has high adaptability and flexibility through cooperative operation, so it can complete the complex space curve welding planning task. Due to the different shapes, sizes and intersecting forms of the workpieces t...

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Problems solved by technology

[0007] To sum up, the main problems of the current robot collaborative welding method are as follows: (1) The weld model of the workpiece is mainly constructed using the spatial geometry method, which depends on the specific shape and intersecting form of the workpiece, and the method is not universal. Moreover, the influence of uncertain factors such as workpiece processing and assembly errors is ignored, and there are errors between the theoretical model of the weld and t

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